CN108008411A

CN108008411A - A kind of sensor for automatic Pilot

Info

Publication number: CN108008411A
Application number: CN201610967560.3A
Authority: CN
Inventors: 张舒怡
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-10-31
Filing date: 2016-10-31
Publication date: 2018-05-08
Also published as: WO2018077262A1

Abstract

A kind of sensor for automatic Pilot, it is characterized in that at least one linear laser emitter 1 towards front ground is set on a vehicle, it is anterior below or above at least one digital imagery module 2 of setting at linear laser emitter in the vehicles, digital imagery module 2 is mainly used for linear laser line 1 on CCD the or CMOS photo-sensitive cells of the projection line intake image-forming module of vehicles front projection position, according to position shape of the laser rays on photo-sensitive cell, with regard to that can differentiate that projection line of the laser rays on ground is sheltered from either with or without by barrier, the light source of linear laser emitter is by the small a wordline laser emitting head of point-like laser emitting head or subtended angle, a wordline can not only be extended, the brightness of linear laser can also be improved.

Description

A kind of sensor for automatic Pilot

Technical field

The present invention relates to a kind of sensor for automatic Pilot, is mainly used for automobile during automatic Pilot or aids in The barrier being likely to be encountered in control loop on the whole perspective plane in detection front, is also adapted to the vehicles such as train, ship Automatic Pilot or auxiliary drive in.

Background technology

The automobile of automatic Pilot is just becoming the hot spot of research and development at present, for automobile moving direction（Usually front）Upper obstacle The detection of thing relies primarily on the first-class mode of radar, laser scanning and ranging, video camera, and wherein video camera generally detects road Road markings, signal lamp etc, the occupation mode of extension is detection people, other automobiles etc.（Rely on the perfect of big data）, at present That most successful pilotless automobile leans on is LIDAR, i.e. laser radar sensor, it is also referred to as the eye of pilotless automobile Eyeball.LIDAR is a compound word, is derived from " light "（Light）" radar "（Radar）.As its name suggests, sensors with auxiliary electrode is to be close to thing Body sends light, and around bad border is inspected by measuring the time used in light reflection.With on pilotless automobile, function is very strong Greatly, simply the design of current LIDAR is heavy and expensive.The pilotless automobile of Google's early stage has only just spent 8 on LIDAR Ten thousand dollars.Moreover, present autonomous driving vehicle often travels on the structural road for having distinguishing mark line, and technology is simultaneously It is not very ripe.

The content of the invention

What the present invention was designed so as to：

A kind of sensor for automatic Pilot, it is characterized in that setting at least one line towards front ground on a vehicle Shape laser beam emitting device 1, the vehicles it is anterior below or above set at linear laser emitter at least one numeral into As module 2, digital imagery module 2 is mainly used for taking in projection line of the linear laser line 1 in vehicles front projection position On CCD the or CMOS photo-sensitive cells of image-forming module, according to position shape of the laser rays on photo-sensitive cell, with regard to that can differentiate laser Line ground projection line either with or without by other objects（Barrier）Shelter from, except laser rays（Cooperative target）, other objects （Noncooperative target）Imaging on photo-sensitive cell can be ignored.Because general barrier all lands（There is foot）, especially automobile Wheel, can be detected on the ground of front, then barrier also there is.Under the linear laser emitter of the present invention has 5 kinds of designing schemes of row：

1）The linear laser emitter is the small a wordline laser hair of the multiple subtended angles being set up in parallel at grade Head is penetrated, a wordline subtended angle of each a wordline laser emitting head is in approximately the same plane, these a wordline laser transmittings arranged side by side Head is arranged on a babinet or frame.

2）The linear laser emitter is the multiple point-like lasers in circular ring shape distribution being arranged on a turntable Emitting head, each point-like laser emitting head deviate from the center of circle, are arranged in a babinet or case, there is front portion in babinet or case The window of light, turntable are driven by motor

3）Linear laser emitter, which includes one, can surround the bottom plate that a rotation axis certain angle rotates back and forth swing, bottom At least one layer of multiple point-like laser emitting heads of parallel or radial arrangement or the small a wordline laser emitting head of subtended angle, pass through on plate Rotate back and forth swing, point-like laser emitting head or the small a wordline laser emitting head of subtended angle project discontinuously on front projection face The laser rays that point or short-term section are formed, what driving bottom plate rotated back and forth swing is repeatedly the electromagnet or motor of discontinuous power supply.

4）Linear laser emitter is the small a wordline laser emitting head of at least one point-like laser emitting head or subtended angle Laser signal is beaten can pass through polycylinder or more conic mirrors with high-speed rotating polycylinder or more conical reflectors at one Rotary reflection, on the way forms the camber line of line-like.The cross section of cylindrical mirror can be regular polygon or non-just polygon The polygon of shape, each reflection points face can be with least one plane or at least one curved surfaces.

5）Linear laser emitter is the small a wordline laser emitting head of at least one point-like laser emitting head or subtended angle Laser signal is beaten at one on the speculum that a rotation axis certain angle rotates back and forth swing, it is certain by speculum Angle swings back and forth and reflects, and the laser rays that making-breaking point or short-term section are formed is projected on front projection face, speculum Reflecting surface is located at the front surface of speculum, can be a plane or multiple streak-like planars or curved surface.

The linear laser emitter have it is multiple, each towards the different level angle in front, or a wire The laser beam emitting head that laser beam emitting device is set divides multilayer, and every layer of direction is towards different level angles.

The linear laser emitter also carries upper and lower angular deflection mechanism, by linear laser when deflection mechanism rotates The linear laser of device transmitting is towards the different level angle in front.

The linear laser emitter also carries elevating mechanism, and elevating mechanism can adjust linear laser emitter position In the height on the vehicles.

The linear laser emitter 1 can also install level altitude on a vehicle.

The position that digital imagery module is substantially set is the half-height position of the vehicles, can take into account regarding for image-forming module Angle.

General linear laser emitter is arranged on vehicle roof, and the linear laser sent is towards before the vehicles Lower section, projection surface is perpendicular to the plane where the central axes of the vehicles.

The present invention be in order to improve the brightness of section linear laser, while ensureing whole section of linear laser total subtended angle, compared with It can also see laser rays in digital imagery module at a distance.

Brief description of the drawings

Fig. 1（a、b、c、d）Differentiate schematic diagram for front obstacle（Wherein a ', b ', c ', d ' are respectively the imaging of a, b, c, d Schematic diagram）.

Fig. 2 is front obstacle of the present invention apart from schematic diagram calculation.

Fig. 3 is mounting structure schematic diagram of the sensor of the first scheme of the invention on car, and wherein Fig. 3 a are structure Side view, Fig. 3 b, 3c are two kinds of structure top views.

Fig. 4 is a kind of mounting structure schematic diagram of the sensor of second scheme of the present invention on car, and wherein Fig. 4 a are Texture edge figure, Fig. 4 b are structure top view.

Fig. 5（a、b）, 6 for the present invention second scheme linear laser emitter structure diagram.

Fig. 7（a、b、c）For the third scheme wire laser beam emitting device structure diagram of the present invention, wherein Fig. 7 a are knot Structure side view, Fig. 7 b, 7c are swing working status top view.

Fig. 8（a、b、c、d）The direction schematic diagram irradiated for the third Scheme Line laser rays of the present invention in swing process, Wherein 8a, 8b are point-like laser emitting head；8c, 8d are a wordline laser emitting head.

Fig. 9 is the 4th kind of scheme wire laser beam emitting device structure diagram of the present invention.

The same Fig. 9 of Figure 10.

Figure 11（a、b、c）The direction schematic diagram irradiated for the 4th kind of scheme laser rays in rotation process.

Figure 12 is the speculum schematic diagram of the linear laser emitter of another convertible horizontal sextant angle of the 4th kind of scheme.

Figure 13（a、b、c、d）For the linear laser emitter structure diagram of fifth version of the present invention, wherein scheming 13a, 13b are texture edge figure（The two kinds of working statuses swung）, Figure 13 c, 13d are swing working status top view.

Figure 14（a、b）The direction schematic diagram irradiated for fifth version laser rays in swing process.

Figure 15（a、b）For a kind of angular deflection structure diagram of linear laser emitter of fifth version of the present invention.

Figure 16（a、b、c、d、e、f）To take the schematic diagram of the linear laser emitter of lower angle deflection mechanism.

Figure 17 is a kind of linear laser emitter scheme of installation on car with elevating lever（Put in circle to be local Big figure）.

Figure 18（a、b）~19（a、b、c）For elevating lever operating diagram（19c is partial enlarged view）.

Figure 20 is a kind of crane schematic diagram.

Embodiment：

At least one linear laser emitter 1 towards front ground is set on a vehicle, in vehicles front panel Nearby below or above at least one digital imagery module 2 is set at linear laser emitter, the position substantially set is to hand over The half-height position of logical instrument, can take into account the visual angle of image-forming module, and digital imagery module is mainly used for handing on linear laser line The CCD of the projection line intake image-forming module of logical instrument front projection position（Or CMOS）On photo-sensitive cell, existed according to the laser rays Position shape on photo-sensitive cell, with regard to projection line of the laser rays on ground can be differentiated either with or without by other objects（Barrier）Block Firmly, except laser rays（Cooperative target）, other objects（Noncooperative target）Imaging on photo-sensitive cell can be ignored.Because one As barrier all land（There is foot）, the especially wheel of automobile can be detected, then barrier is also just deposited on the ground of front .

When accessible, the laser rays stable projection on ground is in fixed position（Because road has certain gradient, projection A laser rays not necessarily straight line）, such as Fig. 1 a/1a ', when having obstacle protrusion, a part of laser rays is impinged upon on the obstacle of protrusion, Its projection on image-forming module will be shifted up（Record the time moved up first）, such as Fig. 1 b/1b ', 1c/1c ', according to what is moved up Offset, can calculate the distance of barrier, and according to vehicles translational speed, can calculate how long the vehicles can meet To the obstacle, how the vehicles should act, if there is hole in road ahead（Step）, then should have in desired location Laser rays will move down or not see, such as Fig. 1 d/1d ', such case also indicates that there is obstacle in front, it is impossible to crosses over（Also may be used By calculating the offset moved down, determine that this drop vehicles can pass through based on experience value）.

Further, according to the linear laser line projection position on the angle obliquely of linear laser emitting head, photo-sensitive cell Put, or even position of the barrier from the vehicles can be calculated, as Fig. 2 linear laser emitters light extraction at be A（It is liftoff Highly it is AB）, the light of injection shines D points on road surface, once run into the barrier on road（A such as roadblock）, part light meeting It is blocked, occurs bright spot at L（Line segment）, the camera lens E central points of imaging device are O, which is OG；Photo-sensitive cell C（CCD）It is Q points that horizontal direction, which is corresponded at O points, and D points are R points at the imaging on C, and L points are P points at the imaging on C （D, L, N, R, P point are not in one plane, in figure the perspective plane of these points in fact）, DR and barrier LM（Take its height） Intersect at N points, the angle on AD and ground is α, and the angle on DR and ground is β.Putting for gained is calculated according to focal length and amplification factor Large scale is k, wherein AB, OG, GB, OQ be known（Fixed value）, RQ, PQ are according to the density of pixel（And pixel interval Distance）, it can calculate and learn in the coabsolute length of C, physical length（When substituting into formula）Also to be multiplied by magnification ratio K, regards as and understands（It is known）, it is assumed that barrier LM is x with a distance from D, i.e., the length of DM then, in figure is given tacit consent to for the sake of convenience for x and put Large scale k is 1：

∵ tgβ=MN/DM= RQ/OQ= OG/DG

∴ DG= OG*OQ/RQ

∵ tg α=AB/DB, that is, tg α=AB/（DG+GB）= AB/（OG*OQ/RQ +GB）

∵ LN=LM-MN= x*（tgα- tgβ）

∵（DG-DM）/ OQ=LN/RP is（DG-x）/OQ=LN/RP

∴（DG-x）/OQ= x*（tgα- tgβ）/RP

I.e.（DG-x）/OQ= x*（AB/（DG +GB）- RQ/OQ）/RP

x=(RP*DG/ ((AB*OQ/(DG+GB))-(RQ-RP))

Wherein RQ-RP=PQ, so after simplifying：

x=RP*DG/ (AB*OQ/(DG+GB)-PQ); DG=OG*OQ/RQ

∴x=RP*OG*OQ/(RQ*(AB*OQ/(OG*OQ/RQ+GB)-PQ))

DG-x, that is, OG*OQ/RQ-RP*OG*OQ/ (RQ* (AB*OQ/ (OG*OQ/RQ+GB)-PQ)) for barrier from the vehicles before End（Camera lens）Distance.

According to the speed and braking distance of the vehicles at that time, calculate how long the vehicles can also move ahead（It is or how many Distance）Just need to change direction, and determine to move toward left and right or which direction of rear according to the situation at left and right sides of barrier, Moving direction is either changed as behind the left back or right side according to mobile trend.

For most vehicles such as automobile, the position that digital imagery module 2 is substantially set is half high position of the vehicles Put, linear laser emitter 1 can be arranged on to the top of automobile, the visual angle of image-forming module can be taken into account.For train or The big vehicles of steamer one kind inertia, are closely detected not necessarily significant（Stop not living）, also can be by digital imagery module 2 very Extremely ground is positioned close in top, linear laser emitter 1（Or the water surface）Place.

）Linear laser emitter 1 is the small a wordline laser hair of the multiple subtended angles arranged side by side set at grade First 11 combination is penetrated, these a wordline laser emitting heads 11 arranged side by side are arranged in a babinet 10, each a wordline laser hair Penetrating first 11 can be parallel to each other, or slightly outward-dipping（In sector）Set, the subtended angle of each a wordline laser emitting head 11 is same One direction（The side of subtended angle is at grade）, general linear laser emitter 1 is arranged on vehicle roof, sent Linear laser towards vehicles front lower place, projection surface is perpendicular to the plane where the central axes of the vehicles, such as Fig. 3.

Also can be in Different Plane（In the diverse location of the vehicles）It is upper that multiple a wordline laser emitting heads 11, a word are set Line laser emitting head 11 is not in the same direction or in the same direction, is emitted directly toward the front lower place of the vehicles, and this setup is being processed into as mould During data on block, calculation amount is larger；A wordline, such as sphere of movements for the elephants line, " three " wordline can also be not necessarily（Three layer of one word Line）Deng irradiation or low-angle obliquely rotate back and forth.

In the occasion that sunlight is strong, the laser signal in a distant place is faint, differs and is surely projected on photo-sensitive cell, and one As green laser it is brighter, can use the higher color of this brightness linear laser emitting head, can also use variable power consumption work( Rate amplifier is powered to laser beam emitting head, in the occasion that sunlight is strong, is improved power, is strengthened the brightness of linear laser, or It is provided side by side the laser head of multiple and different power, during sunlight strong, brightness（Power）Maximum laser head work, it is general strong When, brightness（Power）Medium laser head work, during without sunlight, brightness（Power）Minimum laser head work, can artificial selection Or automatically select（Pass through photosensitive sensor）, untill the photo-sensitive cell of image-forming module can feel the shadow of linear laser.

Linear laser emitter 1 is by least one layer of multiple a wordline laser emitting heads 11 arranged side by side and installs these words The strip babinet 10 of line laser emitting head 11 forms, and one layer is a babinet 10.

Can be towards remote, middle distance, the multilayer closely set respectively（Such as three layers）The one of varying level angle Wordline laser beam emitting head 11, every layer is a babinet 10, or layering is superimposed in a babinet 10 from high to low, every layer of word The laser color of line laser emitting head is preferably different.

It can open wide or set at the babinet 10 of the laser beam emitting device 1 of each or whole 11 direction of a wordline laser emitting head The panel of printing opacity（Such as glass or resin）, on the one hand can be dust-proof, it on the other hand can reduce resistance, this panel can also be up and down The convex lens in direction（Left and right directions uniform thickness, aspherical mirror）, linear laser can further be focused on（Line is attenuated rather than becomes line It is short）.

2）The linear laser emitter 1 is to be arranged on a turntable（It is generally circular in cross section）Being distributed in circular ring shape on 17 Multiple point-like laser emitting heads 12, each point-like laser emitting head 12 deviates from the center of circle（Towards outside）, it is arranged on a babinet 10 or case in, the anterior window 19 for having printing opacity, turntable 17 are driven by motor in babinet 10 or case.

General linear laser emitter 1 is arranged on vehicle roof, and the linear laser sent is towards the vehicles Front lower place, projection surface is perpendicular to the plane where the central axes of the vehicles, such as Fig. 4.The projection line of rotating laser is in fact Camber line, projection distance farther out when can regard approximate straight line as, the identification closely on image-forming module is needed as circular arc line Processing.

Linear laser emitter 1 is by least one layer of annular point-like laser emitting head 12 and installs the rotations of these laser heads The babinet 10 turned forms, and one layer is a babinet 10.

Can be towards remote, middle distance, the multilayer closely set respectively（Such as three layers）The point of varying level angle Shape laser beam emitting head 12, layering are superimposed in a babinet or case 10 from high to low, the laser of every layer of point-like laser emitting head Color is preferably different.

The panel of printing opacity can be opened wide or set at the front of babinet or case 10（Such as glass or resin）, panel one is set Aspect can be dust-proof, on the other hand can reduce resistance, this panel can also be convex lens, and laser is further focused on.

One supporting rod 8 is set on the top of the vehicles, and there is a circular hole at the top of supporting rod 8, passes through bearing setting one in hole The local gear 52 with volute tooth in an outer is fixed in root rotation axis 50,50 side of rotation axis, and an electricity is lifted at the both ends of rotation axis 50 Machine 80, for the sake of frivolous, the most handy DC-disc type motor 80 of the motor, sets linear laser to send out on the rotor 85 of motor 80 Injection device 1（It is multiple point-like laser emitting heads 12 of annular spread herein）, set on the bottom plate of linear laser emitter 1 to Few one layer of point-like laser emitting head 12, they related bottom plate of these point-like laser emitting heads 12（Turntable）17 rotate together；Rotation Shaft 50 is local to also set up the support plate 18 rotated synchronously with rotation axis, and 18 outer rim of support plate fixes a case, that is, wire The babinet 10 of laser beam emitting device, one piece of window 19 is set before babinet（It can be covered with light transmissive material）, supporting rod 8 is close to top Place one motor is set, set worm screw to be set as drive shaft 51, drive shaft 51 with 50 side of rotation axis on the output shaft of motor The gear 52 put engages, and electric motor starting gear 52 rotates related rotation axis 50 and bottom plate（Turntable）17th, point-like laser emitting head 12, Motor 80, case are done together back and forth curves movement（Come back, bow）, such as Fig. 5 a, 5b, because point-like laser emitting head 12 needs to supply Electricity, can set elastic slip ring 84 in 17 bottom of turntable（The carbon brush of similar direct current generator）, with the conducting ring under the stator of motor 80 Contact, slip ring 84 may also be arranged on bottom plate（Turntable）17 edge, with conductive case（Containing aluminium）Contact electricity getting, in supporting rod 8 （Or in the groove outside supporting rod 8）Generally contain five conducting wires（The power cord of motor 80, the driving electricity for driving 52 rotating of drive shaft Machine line（2）, ground wire and point-like laser emitting head 12 power cord, also can be using supporting rod 8 itself as ground wire, certainly also can be more Several threads, including the frequency modulation line of regulation motor rotating speed, the laser head of each layer are set to power respectively）.

For power saving and extend the laser head service life, can be on motor stator turntable 17 under or encloser inner wall is local or support The conductive contact of annular spread is set on plate 18, and each laser head has what band was arranged on slip ring to take electric contact, when laser head turns When near to window 19, electricity is taken（Taking on electric contact and motor stator on slip ring is set in case part or support plate 18 Conductive contact contacts）Light laser head, when laser head leaves window 19 on slip ring take contact is insulator, laser Head is stopped power supply.

The linear laser emitter 1 of this method is made outside light source using point-like laser emitting head 12, can also be annular point The small a wordline laser emitting head 11 of the subtended angle of cloth, a wordline laser with horizontal direction angle always set on same plane The subtended angle of emitting head 11 is same direction（The side of subtended angle is at grade）, the benefit with point-like laser emitting head 12 is shape Into laser rays brightness higher, the benefit of a wordline laser emitting head 11 is that laser dashed line is by a bit of line segment structure Into, it is linear more complete.

Because the rotational characteristic of the point-like laser emitting head 12 of this method, a kind of simple method is annular spread, rotates Point-like laser emitting head 12 direction（With the angle of horizontal plane）Have it is a variety of, such as each of it is different（From towards front lower place To towards top to the front）, it is only several（Continuous or interval）Equally, as on Fig. 6, or turntable 17 along non-horizontal, but ladder Shape is raised or is fitted in inclined-plane from low to high, point-like laser emitting head on inclined-plane, then the projection line in front（Discontinuously Line）Just there is a plurality of, the turntable of this structure（Chassis）On be preferably provided the positioner of code-disc one kind, it is known that face window at present The angle of 19 laser beam emitting head 12, is also known that normal condition（When accessible, earth's surface it is flat）Lower laser rays is in image-forming module 2 Upper right image space.

3）Linear laser emitter 1, which includes one, to rotate back and forth swing around 50 certain angle of rotation axis Bottom plate 16, the multiple point-like laser emitting heads 12 of parallel or radial arrangement or the small a wordline laser emitting head of subtended angle on bottom plate 16 11, swung by rotating back and forth, point-like laser emitting head 12 or the small a wordline laser emitting head 11 of subtended angle are in front projection face On project the laser rays that making-breaking point or short-term section are formed, what driving bottom plate 16 rotated back and forth swing is repeatedly discontinuous power supply or just The electromagnet 58 or motor of back span power supply.

Such as Fig. 7, two electromagnet 58 are set at 16 side both ends of bottom plate respectively, electromagnet 58 is spaced actuation and is arranged on repeatedly The iron block at 16 side both ends of bottom plate（Plate）60, reach allow it is multiple on bottom plate 16（Multilayer or one layer）Point-like laser emitting head 12 encloses Swung around rotation axis 50 by rotating back and forth, or the iron block of 16 side outer of bottom plate（Plate）60 be magnetic substance, close to electromagnet 58 sides are a kind of polarity in " N/S ", and electromagnet 58 only needs to set one, are attracted or repelled magnetic by forward and reverse power supply Body 60.

Rotation axis 50 itself is fixed, is connected with bottom plate 16 by bearing；Or rotation axis 50 is fixed together with bottom plate 16, By fixed bearing rotary, if motor driving bottom plate 16 rotates back and forth swing, then motor output shaft can be exactly to revolve Shaft 50.

A babinet 10 is also set up on bottom plate 16 and surrounds point-like laser emitting head 12 or the small a wordline laser emitting head 11 of subtended angle, The panel of printing opacity can be opened wide or set at the babinet 10 of laser beam emitting head direction（Such as glass or resin）, on the one hand can be dust-proof, On the other hand resistance can be reduced, this panel can also be the convex lens of above-below direction（Left and right directions uniform thickness, aspherical mirror）, can be right Linear laser further focuses on（Line is attenuated rather than line shortens）.

Electromagnet 58, which is attracted iron block 60, noise, can be not directly contacted with actuation（It is separated by a bit clearance distance）, side The elastomer such as spring or rubber 61 is set, hinders the collision of iron block 60 and electromagnet 58.

Electromagnet 58 is in addition to it may be provided at 16 side both ends of bottom plate（Such as Fig. 7, Fig. 8 a/8b）, may also be arranged on bottom plate 16 Both sides（Such as Fig. 8 c/8d）.

Babinet 10 and rotation axis 50, electromagnet 58 or motor are arranged on a base 18, may also be bigger certainly Babinet 10, surrounds laser beam emitting head（There is window towards place）, electromagnet 58, base 18.

Can towards remote, middle distance, closely set respectively it is multiple（Such as three）The line of varying level angle Shape laser aid 1, layering are superimposed in a babinet 10 from high to low, or each own respective babinet 10, each wire swash The angle for rotating back and forth swing of light emitting devices 1 has size, small towards farthest angle（Laser head selects point-like laser transmitting First 12）, the angle for rotating back and forth swing towards linear laser emitter 1 most nearby is big, and the laser line length of projection can Cover larger scope.

4）Linear laser emitter 1 is the small a wordline laser transmitting of at least one point-like laser emitting head 12 or subtended angle Laser signal is beaten and can pass through polycylinder or more cones with high-speed rotating polycylinder or more conical reflectors 7 at one by first 11 The rotary reflection of face speculum 7, on the way forms the camber line of line-like.Such as Fig. 9,10, the cross section of cylindrical mirror 7 can be with It is the polygon of regular polygon or non-regular polygon, each reflection points face can be with least one plane or at least one Curved surface.

In order to ensure the continuity of laser making-breaking point or short-term section, ensure that linear laser gets to the bright spot on road surface or bright line The density of section, to prevent speed it is fast when, when a single point or line-segment sweep, can miss the short barrier of longitudinal separation, can with it is multiple simultaneously The a wordline laser emitting head that the point-like laser emitting head or subtended angle of row are small is beaten in same cylinder or the conical surface or two neighboring column On face or the conical surface even on same point/line segment.

Parallel or annular spread point-like laser emitting head or subtended angle are small in the same plane for multiple distributions arranged side by side A wordline laser emitting head, which is parallel to each other, can beat in the different point/line of same cylinder or the conical surface or two neighboring cylinder or the conical surface Duan Shang.

The small a wordline laser emitting head of multiple the point-like laser emitting heads being distributed in Different Plane arranged side by side or subtended angle It can beat on the different point/line segment of same cylinder or the conical surface or two neighboring cylinder or the conical surface, or multiple point-like arranged side by side Laser beam emitting head or the small a wordline laser emitting head different directions of subtended angle are beaten on same point/line segment.

Because the rotational characteristic of the reflecting surface of the present invention, polycylinder or more conical reflectors 7 are not necessarily all cylinder or cone Face, also can cylinder switch to more conical surfaces, such as Figure 11, or can cylinder to conical surface arranged for interval, such as Figure 12.It is one or more same A variety of different strings of small 11 directive of a wordline laser emitting head of point-like laser emitting head 12 or subtended angle that face or different faces are set Long cross section,（The reflection of the length, the angle of conical surface influence linear laser of linear laser is projected after chord length influence laser reflection Projection distance afterwards）, and there are multiple and different angle conical surfaces（The angle of the conical surface and horizontal plane has a variety of（Such as each face angle degree It is all different, towards front lower place to towards top to the front after laser reflection）Speculum 7, mirror peripheral or only several It is a（Continuous or interval）Reflecting surface（Include the chord length of cross section at angle and laser irradiation）Equally, such as Figure 12, then in front Projection line（Dashed line）Just have it is a plurality of, towards front different angle（Chord length influences the length of projection linear laser after laser reflection Degree, the angle of the conical surface influence the projection distance after the reflection of linear laser）, the upper and lower of a whole set of linear laser emitter can be saved Angular deflection mechanism, the positioner of code-disc one kind is preferably provided in the rotation axis 72 of the speculum 7 of this structure, it is known that at present Towards the reflecting face of the speculum 7 in front, normal condition is also known that（When accessible, earth's surface it is flat）Lower linear laser exists Right image space on image-forming module 2.

Point-like laser emitting head 12 or the small a wordline laser emitting head 11 of subtended angle may be provided at speculum 7 top or under Side, at lower section, babinet 10 can be set together with the base of whole linear laser emitter（Such as Fig. 9）.Babinet when on the top 10 supporting rod 73, which may be provided at, does not influence Laser emission and the optional position of reflection, the position that rotation axis 72 is set in Fig. 9,11 May also set up fixed link, the electric rotating machine of speculum 71 be arranged on inside speculum 7, preferably with external rotor electric machine (such as Disc type electric machine), in this case, the alternative supporting rod 73 of fixed link.

5）Linear laser emitter is the small a wordline laser transmitting of at least one point-like laser emitting head 12 or subtended angle First 11 beat laser signal at one on the speculum 71 that 50 certain angle of rotation axis rotates back and forth swing, by anti- Swinging back and forth and reflecting for 71 certain angle of mirror is penetrated, the laser that making-breaking point or short-term section are formed is projected on front projection face Line, the reflecting surface of speculum are located at the front surface of speculum, can be a plane or multiple streak-like planars or curved surface（Section is A plurality of broken line）Or curved surface（It is one or more）, curved surface is preferably strip concave surface, and laser further can be focused on.

Point-like laser emitting head or the small a wordline laser emitting head of subtended angle may be provided at the front of speculum 71（Front upper place Or front lower place）, a babinet 10 can be set to surround point-like laser emitting head or the small a wordline laser emitting head of subtended angle, laser hair The panel of printing opacity can be opened wide or set by penetrating at the babinet 10 of head direction.

The reflecting surface of speculum 71 is vertical or tilts.

The electromagnet that what driving speculum 71 rotated back and forth swing is repeatedly discontinuous power supply or reversely positive interval powers 58 or motor.

In order to ensure the continuity of laser making-breaking point or short-term section, ensure that linear laser gets to the bright spot on road surface or bright line The density of section, to prevent speed it is fast when, when a single point or line-segment sweep, can miss the short barrier of longitudinal separation, can with it is multiple simultaneously Row（Parallel or radial arrangement, fan-shaped array）Point-like laser emitting head or the small a wordline laser emitting head of subtended angle beat anti- Penetrate the similar and different position of mirror 71.

The small a wordline laser emitting head of multiple point-like laser emitting heads or subtended angle arranged side by side can have multilayer, multilayer build-up On bottom plate 16, every layer towards different horizontal sextant angles.

Laser beam emitting head or the small a wordline laser emitting head of subtended angle can be each towards different.

Laser beam emitting head or the small a wordline laser emitting head of subtended angle can be with several one groups, and one group towards identical, each group Towards difference.

Such as Figure 13, two electromagnet 58 are set at speculum side both ends, electromagnet 58 is spaced actuation and is arranged on instead repeatedly Penetrate the iron block at the 16 side both ends of bottom plate of mirror 71（Plate）60, reach and allow speculum 71 around rotation axis 50 by rotating back and forth pendulum It is dynamic.Or the iron block of 71 side outer of speculum（Plate）60 be magnetic substance, is a kind of pole in " N/S " close to 58 side of electromagnet Property, electromagnet 58 only needs to set one, is attracted by forward and reverse power supply or repels magnetic substance 60.

Rotation axis 50 itself is fixed, is connected with bottom plate 16 by bearing；Or rotation axis 50 is fixed together with bottom plate 16, By fixed bearing rotary, if motor driving bottom plate 16 rotates back and forth swing, then motor output shaft can be exactly to revolve Shaft 50, such as Figure 15.

Electromagnet 58 is in addition to it may be provided at 16 side both ends of bottom plate（Such as Figure 13）, may also be arranged on 16 both sides of bottom plate（Such as Figure 14 a/14b）.

Babinet 10 and speculum 71, rotation axis 50, electromagnet 58 or motor are arranged on a base 18, if Laser emission Head can be unified positioned at the lower section of speculum 71, babinet 10 with base 18, or babinet surrounds base and speculum 71, speculum 71 Drive part, sets the open wide or window with light penetrating panel at reflecting surface direction.

Can towards remote, middle distance, closely set respectively it is multiple（Such as three）The line of varying level angle Shape laser aid 1, preceding side on the upper side may also set up one, the swing angle of revolution of the speculum 71 of this multiple linear laser device 1 Can be different, small towards the angle turned round at a distance, the angle closely turned round is big.

Linear laser emitter 1 can set angular deflection mechanism 5 up and down, and deflection mechanism 5 sends out linear laser device 1 when rotating The linear laser penetrated is towards front different angle.According to the vehicles（Automobile）Speed, automatically control this linear laser hair Injection device 1（Between ground）Horizontal sextant angle, vehicle speed is faster, and angle is smaller, this angular deflection mechanism can be with It is to rotate upwardly and downwardly mechanism 5 or swing mechanism.Driving deflection（Rotation）Drive shaft 51 can be by the stepping with or without reducing gear Motor or servomotor（Steering engine）Driving.Angular deflection mechanism can also one end（Or middle part）Circular rotatable manner is fixed, separately One end（Or middle part）Lifted with a screw driven by nut, this mode can be raised the price disk control or step with common DC motor Stepper motor drives.Linear laser can be rotated some angles by rotating mechanism or swing mechanism 5, and by rotating, linear laser is passed It is delivered to front horizontal direction different angle, such as automatic Pilot（Or with auxiliary driving device）Vehicle according to speed and safety stop Car distance is, it is necessary to detect at a distance（Such as over 100 meters）Distance in or（30 ~ 50 meters）, nearby（Within 10 meters）Different barriers Hinder, this turn（Pendulum）Dynamic direction is by closely to remote rotation, this turn by laser rays（Pendulum）Dynamic direction is to turn upwards（Pendulum）Move to Linear laser can be exposed to scope contour in front of the vehicles, this turn can be passed through（Pendulum）Dynamic detection road ahead either with or without The obstacles such as crossbeam, branch less than height of car.

Certain linear laser emitter 1 can also be not provided with angular deflection mechanism 5 up and down, and linear laser transmitting apparatus is towards admittedly Determine angle, a wordline laser emitting head 11 of the multilayer towards different directions can be set, as set gradually four layers in Fig. 7, respectively Towards preceding on the upper side（The detection vehicles obtain whether peak can collide the bridge in front, tunnel etc.）, it is preceding on the lower side（100 meters or so Distance）, middle distance（50 meters or so）, front lower place（Closely）.

The left and right ends of linear laser emitter 1（Or at least one end）Rotation axis 50 be supported arm 59 and clamp（It can lead to Cross copper sheathing or bearing clamping）, centre position（Or another section）Rotation axis 50 on gear is set, pass through a transition gear 52 Engaged with the gear in drive shaft 51, such as Figure 16（a）, drive shaft is by servomotor, stepper motor or back-geared direct current Motor is raised the price dish driving（It can be the motor shaft of stepper motor）；The rotation axis 50 of babinet 10 can also be exactly the output of motor Axis, or between only a gear.

The afterbody of linear laser emitter may also set up arc line shaped rack 53, and the gear driven with drive shaft 51 engages, Driven and rotated by a certain angle in a manner of rack-and-pinion, such as Figure 16（b）；Afterbody may also set up arc line shaped volute tooth, with a motor The turbine engagement of driving, is driven in a manner of worm and gear and rotated by a certain angle, the benefit of worm and gear is self-locking and big retarding Than.

Linear laser emitter can also pass through cam 54（Eccentric wheel）The mode of rotation plus 55 extension recovery of spring is made past It is multiple（Swing）Movement, such as Figure 16（c）.

Linear laser emitter can also be driven by way of 56 connecting rod 57 of crank it is reciprocating, such as Figure 16（d）, figure In depict babinet 10 and pass through two positions after reciprocating motion.

Linear laser emitter it is reciprocal（Swing）Movement can also be controlled by the break-make of electromagnet 58, such as Figure 16（e）, Electromagnet 58 is arranged on the side in the bottom left and right sides of babinet（Or both sides are all set）, electromagnet 58 is attracted babinet during energization The iron block of 10 bottoms, linear laser emitter is retracted by spring 55 during power-off；Or electromagnet 58 is arranged on linear laser The top of emitter, such as Figure 16（f）, iron block when electromagnet 58 is powered above actuation linear laser emitter（Plate）60, Fallen after rise when electromagnet 58 powers off since gravity wire laser beam emitting device rotates.Electromagnet 58, which is attracted iron block 60, noise, Actuation can be not directly contacted with（It is separated by a bit clearance distance）, side sets the elastomer such as spring or rubber 61, hinders iron block 60 with the collision of electromagnet 58.

Rotating mechanism 5 is rotatably the babinet 10 of linear laser emitter 1, is also rotatably linear laser certainly The bottom plate of emitter 1, whole rotating mechanism 5 also are located in babinet 10.

Rotating mechanism 5 moves back and forth（Swing mechanism）There are many schemes, this is some simple exemplary scenarios, and one A rotating mechanism or swing mechanism can design many schemes for the technical staff of machinery industry, should not be by rotating machine The change of structure or swing mechanism is considered as the new improvement of the present invention.

The drive part of rotation axis 50 can also be provided at one end in the left and right ends of linear laser emitter 1, another Rotating support shaft is fixed in end with bearing.

The linear laser emitter 1 can also install level altitude on a vehicle.

The linear laser emitter 1 may be provided on the head cover of the vehicles, or use fixing bracket（Mandril）Prop, Or also include the elevating mechanism of a linear laser emitter 1（Adjustable linear laser emitter 1 is on a vehicle Highly）.In addition to the aeroperformance of the vehicles, babinet 10 or frame（Refer to the component not being contained in babinet 10）Windward（Or Leak out）One side shape should meet aerodynamic design.Exist for the linear laser emitter loaded in elevating mechanism The level inclination of direction is needed before and after lifting can add motor-driven angle rotation adjuster to adjust the angle or lead to by level meter The mode for crossing mechanical gyroscope is hung, no matter elevating lever top tilts or the angle of lifting is different, a whole set of linear laser transmitting dress 1 is put towards front lower place fixed position.

Elevating lever can be arranged on to the A columns of automobile（Or B, C column）It is interior, can one side be arranged in a column, elevating lever in itself in fall " L " shape, or be arranged in two columns of both sides（The drive shaft of elevating mechanism 9 extends to opposite side from side, or both sides have The driving motor of synchronous rotary）, elevating lever is in " n " shape in itself, can also single pole it is " T " shape, risen out of generator case or luggage case Drop（Can be as thin as possible by this bar, Min. does not influence visual field）, or the " T " shape A columns for being provided separately within side（Or B, C column） Interior, elevating lever itself is with teeth or screw thread, elevating mechanism 9 can be such as microscope dressers for motor-driven gear or screw rod（Or camera lens） The mode of lifting lifts the height of linear laser transmitting apparatus 1.

If elevating mechanism stent（Mandril）Prop, this stent may also be configured to electronic（Or hydraulic pressure or air pressure）Lifting Stent, as the antenna or elevation mast of electric up-down in galloping, in order to beat far in laser signal （100 meters or so）When, the point on point or the barrier on road is clearly differentiated in image-forming module, in order to widen between LN points Distance, will can significantly lift raising at linear laser emitter light extraction.The antenna or elevation mast of electric up-down have maturation Technology, but motor driving lifting when preferably with code-disc or cellular type（Counted with photoelectric tube or mechanical switch）Clockwork spring（Volume Around）This space-efficient mode, it is known that the height of linear laser emitter, or can directly be lifted to most by detection switch Big height（Fixed value）, decline and detected also by switch.Such as Figure 18,19, mast puts down lodging and exists when can be run at a low speed in On roof（It is easy to easy to reduce running resistance, reduce overall height into garage etc.）, when running at high speed, mast passes through one or two （Each one of both sides）Top 92 jacks up, and mandril 92 can be electric or pneumatic or hydraulic-driven, such as Figure 18, also can as Figure 19 with Big retarding than gear driving mast foot gear 91（Local tooth）, mast foot also has a protrusion 95, in the limit of mast Withstood during height（It is small）The C columns or rear top beam of automobile, mast no longer fall backward.Mast can be one ("T"-shaped) or " n " shape two（In order to without prejudice to skylight）.

One platform-type lifting platform for rising overally or declining can also be set in vehicle roof（Frame）, linear laser Emitter is arranged on lifting platform（Frame）Top（Top is hung under or）, such as Figure 20, lifting driving motor（Band shell）96 drivings One screw 93,93 distal end of screw are polished rod, and by the side of 97 fixed value lifting platform of bearing, liter is arranged on proximally by driving The nut 94 for dropping platform opposite side promotes lifting platform（Frame）Rise or fall, the benefit of this elevating mechanism is linear laser transmitting dress The direction for putting 1 does not have to change, and with auto-lock function.

So-called digital imagery module predominantly includes camera, digital imagery component（CCD or CMOS array）, input it is defeated Go out circuit, digital signal processing module（DSP）The camera system integrated Deng component, it is typical to apply such as camera, optics mouse Target is imaged and processing system, the camera system etc. of mobile phone, and camera is preferably with wide-angle camera, before image-forming module End can also set optical filtering, polarizer, and also optical filtering, polarizer can be integrated in image-forming module certainly（After camera）, this A numeral image-forming module can also set multiple, such as each one of left and right at grade, to extend visual angle.Digital imagery module It is not necessarily positioned on vehicles shell, also can perforate on the shell（Window）, imaging device to vehicle interior be retracted A distance.Camera lens can set the good glass of translucency in order to dust-proof（Or resin）Piece blocks, or is kept off with optical filtering, polarizer Ash, in order to avoid over-exposed caused by the light-illuminating of opposite car, can also install so-called infrared section before or after camera lens Only optical filter, the optical filter can also use window mode（Open or close）Or lifting or translation mode, generally used in night, I.e. daytime removes optical filter, is moved at night.

Imaging device 2 can set multiple, a such as focal length 21, a wide-angle, and medium and long distance is using focal length, nearby With wide-angle, focal length camera 21（Imaging device）Being arranged on chassis, nearby height, wide-angle are arranged near automobile half-height position.For Improve the speed of imaging device processing data（Frame/per second）, can be directed at a distance（About 100 meters）, middle distance（About 50 meters）, it is near Place（10 meters or so）, an imaging device is set respectively, and each imaging device tracks processing distant place, middle distance, nearby three respectively The situation of change of section laser rays, because the scope of laser line imaging can based on experience value, be delimited substantially on photosensitive sensor, And the because distance fixed（Such as 50 meters）There is fixed visual angle β, the distance RQ between the projection R and Q of imaging sensor is Fixed, and point of irradiation L of the laser on barrier can only be in below R points in the projection P point of imaging sensor, be pointed out from R Moved to Q points, continue to disappear downwards or in moving process until crossing Q points（Less than visual angle or remove monitoring road scope）, So DSP can mainly handle R to Q points（Line）Between a less imaging sensor monitoring area, certainly, in order to balance Depression in the gradient and monitoring road of road, or moved because of image space caused by the shake in vehicle traveling process It is dynamic, the altitude range of a little R points need to be suitably increased, less data processing amount ensures speed（The imaging interval time）.

Existing high resolution CCD or CMOS（Mainly CMOS）Imaging sensor single pixel size dimension it is about several A micron（The stacking-type CMOS on mobile phone can accomplish 1 micron at present）If in 100 meters of remote imaging（Assuming that swash 1.6 meters of height at light light extraction, 0.3 meter of height at imaging device, focal length is about 36 centimetres）, by calculating, such as at 97 meters Laser rays runs into the barrier of protrusion, its image space only moves up the length of about 3 pixels（About 14 microns）, the laser at 95 meters Line runs into the barrier of protrusion, its image space only moves up the length of about 5 pixels（About 23 microns）, laser rays is met at 90 meters To raised barrier, its image space only moves up the length of about 10 pixels（About 48 microns）, in order to ensure on barrier Laser rays can offer an explanation, it is necessary to take a little measures, for example increase imaging device on an imaging sensor with the laser rays on ground Focal length, increase the distance at imaging device and linear laser emitter light extraction, especially linear laser emitter light extraction The height at place, linear laser emitter is raised, increase here it is foregoing for linear laser emitter 1 with lifting gear The reason for lifting gear.

Certainly image-forming module position can also be reduced, close to ground, but dust is larger close at ground, has to imaging device Devastating impact, the camera lens of the original image-forming module installed in automotive front are also required to often clean, and one can be installed before camera lens A swab, such as the deflection roller or brush of lifting or wiper sample, brush（Bristle or swipe）With flexible material, in order to avoid Big injury is caused to camera lens；Or refilled before camera lens one flat plate dress glass, for keeping off ash, and clean it is easy and resistance to Mill.

Imaging of the linear laser line on CMOS or CCD pixel point is not a simple straight line, for example highway is in certain Slope（Middle height, both sides are low）, it is circular arc line by rotate or shake the linear laser sent presentation, at image information During reason, such line segment also should be able to be considered as that cooperative target is identified in knowledge base, comprising rugged on road, Can be deviateed in the velocity interval of automobile by line segment that automatic Pilot is allowed scope, etc. these numerical value need to by testing repeatedly, Establish in the knowledge base of automatic Pilot.Even laser, still there is the situation of edge blurry after imaging, distance is more remote more serious （Line segment is wider）, it is also desirable to how the noise reduction that is responded, smooth, binary conversion treatment etc., obtain more accurate distance value, can lead to The imaging features for the laser rays for building each fixed range are crossed, take into account weather condition（Brightness）, relevant empirical value is extracted, is obtained Approximate barycenter（Line）Establish in knowledge base.In addition can be shaken in vehicle traveling process, but the stabilization in image procossing is Through there is mature technology（Such as camera）, and during car body shake, image-forming module and linear laser emitter are synchronization jitters.Now The camera lens of focal length camera be generally made of multi-disc optical lens, it is impossible to simply calculated according to similar triangles（Meter above Calculation mode is simply to illustrate that principle）, there is certain proportionate relationship（Focal length, amplification factor with camera is related）, this ratio Obtained empirical data adds when the data or measurement regular length that can be provided in practical application according to camera supplier To calculate.For smooth road, different distances, projected position of the line segment that linear laser projects on image-forming module Be fixed, but work as Uneven road, in go up a slope or the starting point of descending before or during the unfixed ramp of the gradient, projected position is just It can deviate.

The laser line length that the linear laser that same linear laser emitter 1 is launched projects in different distances is not Together, the longer laser rays of distance is also longer, can set a virtual frame in image-forming component, similar to represent the width of vehicle In the trapezoidal frame that width of the carbody is shown on present backsight back-up video, deformation of the laser rays outside this frame can neglect Slightly, it is of course possible to measure whether the deformation of the laser rays outside frame has the trend moved into frame, if so, explanation barrier Meeting and vehicle collision are possible to, vehicle should just slow down or early warning；It is exactly to establish a vehicles for the vehicles Projection frame in direction of advance.

Further：Can according to two sets, towards vehicle, nearby two sides be out-of-bounds respectively in the both sides of wire laser beam emitting device A wordline laser emitting head（Or expand the linear laser emitter at angle greatly with one）, nearby have not for detecting vehicle Someone, animal and other objects quickly to this car track move, or can only Ackermann steer angle prejudge what is turned round in advance Whether track has obstacle.

Whole system of the present invention not only installs the front towards the vehicles, also can be towards the rear of the vehicles（Auxiliary Reversing or early warning backward）Or the left and right towards the vehicles（Or it is left front, right before, it is left back, right after）Direction, auxiliary are overtaken other vehicles or are turned It is curved.Can also be in the side of automobile (such as on car body both sides or reflector bracket（Place cannot be rotated）It is vertical to install towards front Linear laser, to represent the width of automobile, and by irradiation, and detect the both sides of image-forming module come in front of determining either with or without thing （Or people, animal or aerial branch）, also can be attached in vehicle chassis for the sake of same reliable into the track of vehicle travels Closely parallel to chassis transmitting forwards（Parallel ground or forward upward or covering wheel front lower place）Laser rays, by imaging or Reflection（Ranging only detects signal）Mode further detect preceding object.

For the ship of automatic Pilot, because there is the fluctuation of water wave, be projected in front is not just straight line, can To set certain offset to be compared according to the height of wave；For train, because the relation of roadbed and track, projection line Nor straight line, can be compared according to the virtual frame that the chassis height and width of permutation train are established.

Claims

1. a kind of sensor for automatic Pilot, it is characterized in that setting on a vehicle at least one towards front ground Linear laser emitter (1), it is anterior at least one below or above the setting of linear laser emitter (1) place in the vehicles Digital imagery module (2), digital imagery module (2) are mainly used for linear laser line (1) in vehicles front projection position On projection line intake image-forming module CCD or CMOS photo-sensitive cells on.

A kind of 2. sensor for automatic Pilot according to claim 1, it is characterized in that the linear laser transmitting Device (1) is the small a wordline laser emitting head (11) of the multiple subtended angles set at grade, each a wordline laser hair A wordline subtended angle of head (11) is penetrated in approximately the same plane, these a wordline laser emitting heads (11) arranged side by side are arranged on a case On body (10) or frame.

3. linear laser emitter (1) according to claim 1 is in annulus to be arranged on a round turntable (17) Multiple point-like laser emitting heads (12) of shape distribution or the small a wordline laser emitting head of subtended angle（11）, each laser beam emitting head (12) deviate from the center of circle, be arranged in a babinet (10) or case, there are the window (19) of printing opacity in babinet (10) or case front portion, turn Disk (17) is driven by motor, and laser beam emitting head rotates together when turntable (17) rotates, the subtended angle of a wordline laser emitting head (11) The face being each perpendicular to where the central axes of the vehicles.

4. linear laser emitter (1) according to claim 1, which includes one, can surround a rotation axis (50) one Determine the bottom plate (16) that angle rotates back and forth swing, at least one layer of multiple point-like lasers of parallel or radial arrangement are sent out on bottom plate (16) Penetrate head (12) or the small a wordline laser emitting head (11) of subtended angle, swung by rotating back and forth, point-like laser emitting head (12) or The small a wordline laser emitting head (11) of subtended angle projects the laser rays that making-breaking point or short-term section are formed on front projection face, drives The electromagnet (58) or motor that what dynamic bottom plate (16) rotated back and forth swing is repeatedly discontinuous power supply or forward and reverse interval powers, a word The subtended angle of line laser emitting head (11) is each perpendicular to the face where the central axes of the vehicles.

5. linear laser emitter (1) according to claim 1 is at least one point-like laser emitting head (12）Or The small a wordline laser emitting head (11) in angle beats laser signal on a high-speed rotating reflection points mirror (7), By cylinder or the rotary reflection of conic mirror (7), the camber line of line-like is on the way formed, the cross section of speculum (7) can be with It is the polygon of regular polygon or non-regular polygon, speculum（7）Reflecting surface can be with plane or curved surface, a wordline laser transmitting The subtended angle of head (11) is each perpendicular to the face where the central axes of the vehicles.

6. linear laser emitter according to claim 1 is that at least one point-like laser emitting head (12) or subtended angle are small A wordline laser emitting head (11) laser signal beaten rotate back and forth pendulum around rotation axis (50) certain angle at one On dynamic speculum (71), swinging back and forth and reflect by speculum (71) certain angle, projects on front projection face The laser rays that making-breaking point or short-term section are formed, the reflecting surface of speculum (71) are located at the front surface of speculum (71), can be one A plane or multiple planes or curved surface, the subtended angle of a wordline laser emitting head (11) are each perpendicular to where the central axes of the vehicles Face.

A kind of 7. sensor for automatic Pilot according to claim 1, it is characterized in that the linear laser transmitting Device (1) have it is multiple, each towards the different level angle in front, or the laser set in linear laser emitter (1) Emitting head divides multilayer, and every layer of direction is towards different level angles.

A kind of 8. sensor for automatic Pilot according to claim 1, it is characterized in that the linear laser transmitting Device (1) also carries upper and lower angular deflection mechanism (5), the wire for launching linear laser device (1) when deflection mechanism (5) rotates Laser is towards the different level angle in front.

A kind of 9. sensor for automatic Pilot according to claim 1, it is characterized in that the linear laser transmitting Device (1) also carries elevating mechanism (9), and elevating mechanism (9) can adjust linear laser emitter (1) and be located on the vehicles Highly.

A kind of 10. sensor for automatic Pilot according to claim 1, it is characterized in that the linear laser transmitting The level altitude of device (1) installation on a vehicle.